Hybrid input shaping to suppress residual vibration of flexible systems

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dc.authoridMISTIKOGLU, SELCUK/0000-0003-2985-8310
dc.authoridYAVUZ, Hakan/0000-0002-6166-0921
dc.contributor.authorYavuz, Hakan
dc.contributor.authorMistikoglu, Selcuk
dc.contributor.authorKapucu, Sadettin
dc.date.accessioned2024-09-18T20:11:37Z
dc.date.available2024-09-18T20:11:37Z
dc.date.issued2012
dc.departmentHatay Mustafa Kemal Üniversitesien_US
dc.description.abstractThis paper presents hybrid input shaping method to eliminate residual vibration of multi-mode flexible systems. This method, initially designed for one degree of systems, is modified to apply on linear and nonlinear multi-mode systems. In this method, firstly the flexible system is uncoupled using modal analysis method, and then the parameters of the decoupled system are used to shape the command template signal. A ramp plus ramped cycloid plus ramped versine is proposed as the command template signal to be preshaped. The template function is preshaped to yield zero residual vibration for point to point motion and then the resulting trajectory is convolved with a sequence of two impulses to obtain a twice shaped input. The proposed method is applied to eliminate residual vibration of a linear multimass and flexible joint manipulator types of systems. Simulation results show that the oscillations are considerably decreased with a high degree of robustness in the presence of system parameters uncertainty.en_US
dc.identifier.doi10.1177/1077546311403179
dc.identifier.endpage140en_US
dc.identifier.issn1077-5463
dc.identifier.issn1741-2986
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-84856392843en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage132en_US
dc.identifier.urihttps://doi.org/10.1177/1077546311403179
dc.identifier.urihttps://hdl.handle.net/20.500.12483/8986
dc.identifier.volume18en_US
dc.identifier.wosWOS:000299056800011en_US
dc.identifier.wosqualityQ1en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSage Publications Ltden_US
dc.relation.ispartofJournal of Vibration and Controlen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectCommand shapingen_US
dc.subjectlightly damped flexible systemen_US
dc.subjectmulti-modeen_US
dc.subjectresidual vibrationen_US
dc.titleHybrid input shaping to suppress residual vibration of flexible systemsen_US
dc.typeArticleen_US

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